Intelligent control excavator laser radar identification device

Abstract

The application discloses a kind of intelligent control excavator laser radar identification device, belong to excavator laser radar technical field, this intelligent control excavator laser radar identification device, including control excavator ground movement's walking component, walking component is equipped with mechanical arm, mechanical arm is rotatably installed with excavator, walking component is installed with the driver's cabin of human control mechanical movement, the top surface of driver's cabin is fixed with support frame, two groups of hollow tubes are vertically fixed on support frame, telescopic connection is equipped with lifting rod in hollow tube, the top of lifting rod is rotatably connected with steering seat, the upper surface of steering seat is fixed with disc base, disc base is fixed with the laser radar detection device for providing environmental data for intelligent control, and laser radar detection device upper end surface is rotatably provided with camera for further sensing, monitoring surrounding environment;The laser radar identification device can adjust the detection and identification height and angle in real time, avoid detection and identification blind area, improve the precision of excavator intelligent control.

Description

Technical Field

[0001] This invention relates to the field of excavator lidar technology, specifically to an intelligent control excavator lidar identification device. Background Technology

[0002] As a core component of the excavator's intelligent control system for environmental perception, lidar is mainly used to acquire real-time information on the location of obstacles around the machine, terrain undulations, slope contours, and three-dimensional information of the working surface. Through high-precision point cloud data, it provides reliable environmental perception support for the excavator's autonomous walking, automatic obstacle avoidance, precise digging, and intelligent operation, thereby improving construction safety and the level of automated operation.

[0003] For example, patent CN112593596B discloses a device and method for radar identification of intelligent excavators, including a main controller. The input end of the main controller is connected to an automatic loading switch, a radar support angle sensor, a turntable angle sensor, and a lidar. The output end of the main controller is connected to a radar rotating support. This excavator radar identification device can improve the flexibility of vehicle-mounted radar identification, save the automatic digging and loading time of the excavator, and improve the efficiency of automatic digging and loading operations.

[0004] For example, patent CN119754374B discloses an intelligent excavator lidar identification device, including an excavator body; a control cabin is fixedly installed on the top of the excavator body, and an identification seat is fixedly installed on the top of the control cabin. A power mechanism and a steering rod are installed inside the identification seat. The bottom end of the steering rod is connected to the output end of the power mechanism. A rotating base is fixedly installed above the steering rod, and a lidar scanning device is fixedly installed on the top of the rotating base. A blocking component is provided around the lidar scanning device. By setting the blocking component, when the excavator body moves, the blocking cover and the blocking cover work together to block splashed water and pollutants, avoiding the problem of affecting the working effect of the identification device and reducing the service life of the lidar, thus improving the working effect of the device. However, some excavators operate in harsh environments with uneven ground. When the equipment travels through uneven areas, it tends to tilt uphill or downhill, causing the onboard LiDAR to tilt synchronously with the machine, resulting in blind spots and making it difficult to effectively identify complex terrain and perceive the terrain. In addition, during the construction of mud-like materials, splashed mud can easily adhere to the optical surface of the LiDAR. If it is not protected and cleaned in time, it will continuously block the laser transmission and reception path, reduce detection accuracy, and affect the stable operation of the equipment.

[0005] To address the aforementioned issues, there is an urgent need for innovative design based on the existing excavator lidar identification device. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent control excavator lidar identification device to solve the problems mentioned in the background art, such as the harsh working environment of some excavators, poor ground flatness at construction sites, and the tendency of the equipment to tilt uphill and downhill when driving through uneven areas, causing the vehicle-mounted lidar to tilt synchronously with the machine, resulting in blind spots and making it difficult to effectively identify complex terrain and perceive the terrain. In addition, during the construction of mud-like materials, splashed mud can easily adhere to the optical surface of the lidar. If it is not protected and cleaned in time, it will continuously block the laser transmission and reception path, reduce the detection accuracy and affect the stable operation of the equipment.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an intelligent control excavator laser radar identification device, comprising a walking assembly for controlling the excavator's movement on the ground, a robotic arm mounted on the walking assembly, a bucket rotatably mounted on the robotic arm, a cab for manually controlling the mechanical movement mounted on the walking assembly, a support frame fixed on the top of the cab, two sets of hollow cylinders vertically fixed on the support frame, a lifting rod telescopically connected in the hollow cylinders, a steering seat rotatably connected to the top of the lifting rod, a disc base fixed on the upper surface of the steering seat, a laser radar detection device for providing environmental data for intelligent control fixed on the disc base, and a camera rotatably mounted on the upper surface of the laser radar detection device for further sensing and monitoring the surrounding environment; a parallel two-degree-of-freedom adjustment mechanism for adjusting the detection height and angle of the laser radar detection device is provided on the support frame.

[0008] Preferably, the parallel two-degree-of-freedom adjustment mechanism includes a guide rail fixed laterally on a support frame, a slide block slidably mounted on the guide rail, and a steering arm rotatably connected to the slide block; a positioning block is fixed on the lower surface of the disc base, and the positioning block is rotatably connected to the steering arm.

[0009] Preferably, a base is fixed on the support frame, a cylinder is rotatably connected to the base, and a rotating drum is fixed to the output end of the cylinder; a crossbar is vertically fixed on the steering arm, and the rotating drum is rotatably sleeved on the outside of the crossbar.

[0010] Preferably, a rotating ring is rotatably mounted on the disc base, and a radar optical protective cover is rotatably mounted on the rotating ring. The radar optical protective cover has a through window that completely covers the signal transmission and reception area of ​​the lidar detection device. The disc base is provided with a turning mechanism that switches the protected area of ​​the radar optical protective cover and the window to correspond to the signal transmission and reception area of ​​the lidar detection device. The disc base is also provided with a cleaning mechanism that autonomously cleans the mud on the surface of the protected area of ​​the radar optical protective cover.

[0011] Preferably, the steering mechanism includes an annular groove formed on the upper surface of the rotating ring, and an inner annular cavity is formed inside the rotating ring. The radar optical shield passes through the annular groove and is rotatably installed in the inner annular cavity. An internal gear ring is fixed to the inner wall of the rotating ring, and a pinion is meshed next to the internal gear ring. The pinion is rotatably connected inside the rotating ring.

[0012] Preferably, a small motor is fixed to the lower surface of the rotating ring, and a small gear is fixed to the output end of the small motor; a groove is provided on the disc base, and the small motor is movably disposed in the groove.

[0013] Preferably, the cleaning mechanism includes multiple uprights fixed to the outside of the disc base along the circumferential direction, with a scraper fixed to the side of the uprights near the radar optical shield.

[0014] Preferably, the disc base has a slide rail inside, and a T-shaped rod is slidably arranged in the slide rail. The T-shaped rod is fixedly connected to the inner wall of the rotating ring.

[0015] Preferably, a positioning cylinder is fixed to the outside of the hollow cylinder, and two sets of curved grooves are opened on the positioning cylinder, with the two sets of curved grooves opening in opposite directions; a positioning slide rod is slidably connected in the curved groove, and the positioning slide rod is fixedly connected to the T-shaped rod.

[0016] Preferably, the radar optical protective cover has multiple ribs fixed on both the upper and lower edges, the ribs are distributed above and below the window, and the ribs rotate circumferentially to contact and press against the surface of the scraper.

[0017] Compared with the prior art, the beneficial effects of the present invention are: the intelligent control excavator lidar recognition device can intelligently adjust the recognition height and angle of the lidar detection device according to the excavator's walking posture, maintain the integrity of the lidar detection device's recognition range, and reduce the detection blind zone.

[0018] The support frame is equipped with a parallel two-degree-of-freedom adjustment mechanism to control the detection height and angle of the lidar detection device. When the excavator travels in pitching or descending slopes, the two sets of cylinders on the base operate. If the strokes of the two sets of cylinders are the same, the lidar detection device can be raised or lowered. If the strokes of the two sets of cylinders are different, the lidar detection device can be rotated upwards or downwards, adjusting the environmental recognition range of the lidar detection device. This ensures that it can effectively identify the working environment in various situations, and the detected environmental data assists in achieving automatic obstacle avoidance, autonomous excavation, and precise operation.

[0019] The lidar detection device is equipped with a radar optical protective cover with a through window. During the construction of mud-like materials, the protective area of ​​the radar optical protective cover is rotated to align with the signal transmission and reception area in front of the lidar detection device to protect against splashed mud. In slightly better construction conditions, the window on the radar optical protective cover is rotated to align with the signal transmission and reception area in front of the lidar detection device to ensure that the lidar detection device can be used continuously for a long time.

[0020] The disc base is equipped with a steering mechanism that switches the protected area and window of the radar optical shield to correspond to the signal transmission and reception area of ​​the lidar detection device. Through the meshing transmission of a pinion and an internal gear ring, the radar optical shield can be controlled to rotate on the rotating ring, switching its position outside the lidar detection device. The radar optical shield has a good protective effect, ensuring that the lidar detection device can identify and detect the surrounding environment while also protecting against construction mud. The window is in a through state, which can ensure that the lidar detection device can accurately identify and detect the surrounding environment, ensuring construction accuracy.

[0021] The disc base is equipped with a self-cleaning mechanism for the mud on the surface of the radar optical shield's protected area. During the lifting and lowering movement of the lidar detection device, the positioning slide rod on the T-shaped rod slides directionally along the opening direction of the curved groove. This drives the T-shaped rod and the rotating ring to rotate back and forth, thereby causing the radar optical shield on the rotating ring to rotate back and forth. This causes the mud splashed onto the radar optical shield to be ejected outward, reducing the mud adhesion rate on the radar optical shield and facilitating subsequent cleaning of its surface. In addition, when the ribs on the radar optical shield rotate back and forth and come into contact with the scraper, they are squeezed, causing the radar optical shield to vibrate slightly, accelerating the shedding of surface mud, dust, and liquid. When the protected area of ​​the radar optical shield rotates to one side of the upright, its reciprocating rotation, through contact with the scraper, can further clean the mud on its surface, maintaining the protective state of the radar optical shield for long-term use. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the excavator of the present invention.

[0023] Figure 2 This is a schematic diagram of the cab structure of the present invention.

[0024] Figure 3 This is a schematic diagram of the support frame structure of the present invention.

[0025] Figure 4 This is a schematic diagram of the steering arm structure of the present invention.

[0026] Figure 5This is a schematic diagram of the cylinder structure of the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of the lidar detection device of the present invention.

[0028] Figure 7 This is a schematic diagram of the cross-sectional structure of the disc base of the present invention.

[0029] Figure 8 This is a schematic diagram of the cross-sectional structure of the rotating ring of the present invention.

[0030] Figure 9 This is a schematic diagram of the T-shaped rod structure of the present invention.

[0031] Figure 10 This is a schematic diagram of the positioning cylinder structure of the present invention.

[0032] Figure 11 This is a schematic diagram of the radar optical shield structure of the present invention.

[0033] Figure 12 This is a schematic diagram of the pole structure of the present invention.

[0034] In the diagram: 1. Walking assembly; 2. Robotic arm; 3. Bucket; 4. Cab; 5. Support frame; 6. Hollow cylinder; 7. Lifting rod; 8. Steering seat; 9. Disc base; 91. Guide rail; 92. Slide seat; 93. Steering arm; 94. Positioning block; 95. Base; 96. Cylinder; 97. Rotary drum; 98. Crossbar; 10. LiDAR detection device; 11. Camera; 12. Rotating ring; 121. Inner ring cavity; 122. Internal gear ring; 123. Pinion; 124. Small motor; 125. Ring groove; 13. Radar optical protective cover; 14. Window; 15. Slide rail; 16. T-shaped rod; 161. Positioning cylinder; 162. Curved groove; 163. Positioning slide rod; 17. Groove; 18. Upright pole; 19. Scraper; 20. Rib. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1: Please refer to Figure 1 - Figure 4The present invention provides the following technical solution: a smart control excavator laser radar identification device, comprising a walking assembly 1 for controlling the excavator's movement on the ground, a robotic arm 2 mounted on the walking assembly 1, a bucket 3 rotatably mounted on the robotic arm 2, a cab 4 for manually controlling the mechanical movement mounted on the walking assembly 1, a support frame 5 fixed on the top surface of the cab 4, two sets of hollow cylinders 6 vertically fixed on the support frame 5, a lifting rod 7 telescopically connected in the hollow cylinders 6, a steering seat 8 rotatably connected to the top of the lifting rod 7, a disc base 9 fixed on the upper surface of the steering seat 8, a laser radar detection device 10 for providing environmental data for smart control fixed on the disc base 9, and a camera 11 rotatably mounted on the upper surface of the laser radar detection device 10 for further sensing and monitoring the surrounding environment; a parallel two-degree-of-freedom adjustment mechanism for adjusting the detection height and angle of the laser radar detection device 10 is provided on the support frame 5.

[0037] Please see Figure 3 - Figure 6 The parallel two-degree-of-freedom adjustment mechanism includes a guide rail 91 horizontally fixed on a support frame 5, a slide block 92 slidably mounted on the guide rail 91, and a steering arm 93 rotatably connected to the slide block 92; a positioning block 94 is fixed on the lower surface of the disc base 9, and the positioning block 94 is rotatably connected to the steering arm 93. A base 95 is fixed on the support frame 5, and a cylinder 96 is rotatably connected to the base 95. A rotating cylinder 97 is fixed to the output end of the cylinder 96; a crossbar 98 is vertically fixed on the steering arm 93, and the rotating cylinder 97 is rotatably sleeved on the outside of the crossbar 98.

[0038] The operator controls the excavator's movement and digging operations from the cab 4. When the excavator moves on uneven ground, it will exhibit pitching and sloping motions. At this time, the recognition range of the lidar detection device 10 is affected by the excavator's movement. In this embodiment, the detection height and angle of the lidar detection device 10 can be adjusted in real time. When the two sets of cylinders 96 are running in the same stroke, the steering arm 93 rotates between the positioning block 94 and the slide block 92. The rotating steering arm 93 pushes the slide block 92 to engage with the guide rail 91 and slide laterally. At this time, the disc base 9 drives the lifting rod 7 to move up and down through the hollow cylinder 6, thereby realizing the movement of the disc base 9 and the lidar detection device. The height adjustment of device 10 is achieved by controlling the two sets of cylinders 96 to operate at different strokes. For example, the left cylinder 96 is controlled to have a longer output stroke, while the right cylinder 96 retracts inward. At this time, the left steering arm 93 rotates and pushes the slide 92 to move away from the base 95, while the right steering arm 93 rotates and pushes the slide 92 to move closer to the base 95. The disc base 9 rotates on the lifting rod 7 connected to the steering seat 8, thereby adjusting the identification and detection angle of the laser radar detection device 10. For example, when the excavator is in an upward tilting posture, the laser radar detection device 10 is controlled to rotate downward to ensure that the laser radar detection device 10 can effectively identify and detect the ground terrain, thus ensuring the safe operation of the excavator and construction work.

[0039] Example 2: Please refer to Figure 6 Based on Embodiment 1, a radar optical shield 13 is also disclosed, the specific structure of which is as follows: a rotating ring 12 is rotatably mounted on the disc base 9, and a radar optical shield 13 is rotatably mounted on the rotating ring 12. The radar optical shield 13 has a through window 14, which completely covers the signal transmission and reception area of ​​the lidar detection device 10. The disc base 9 is provided with a turning mechanism that switches the protection area of ​​the radar optical shield 13 and the window 14 to the corresponding position of the signal transmission and reception area of ​​the lidar detection device 10. The disc base 9 is provided with a cleaning mechanism that can autonomously clean the mud on the surface of the protection area of ​​the radar optical shield 13.

[0040] Please see Figure 6 - Figure 8 The steering mechanism includes an annular groove 125 formed on the upper surface of the rotating ring 12, and an inner annular cavity 121 formed inside the rotating ring 12. The radar optical shield 13 passes through the annular groove 125 and is rotatably installed in the inner annular cavity 121. An internal gear ring 122 is fixed to the inner wall of the rotating ring 12, and a pinion 123 is meshed with the internal gear ring 122. The pinion 123 is rotatably connected inside the rotating ring 12. A small motor 124 is fixed to the lower surface of the rotating ring 12, and the pinion 123 is fixed to the output end of the small motor 124. A groove 17 is formed on the disc base 9, and the small motor 124 is movably disposed in the groove 17.

[0041] Please see Figure 6 , Figure 9 - Figure 12 The cleaning mechanism includes multiple uprights 18 fixed along the circumference of the outer side of the disc base 9. A scraper 19 is fixed to the side of the uprights 18 near the radar optical shield 13. A slide rail 15 is provided inside the disc base 9, and a T-shaped rod 16 is slidably arranged in the slide rail 15 (the T-shaped rod 16 has a segmented structure, with the lower vertical rod rotatably connected to the upper rod, and its rotation axis is collinear with the rotation axis of the lifting rod 7 and the steering seat 8, so that the T-shaped rod 16 can be driven to move up and down when the disc base 9 moves up and down. When the disc base 9 rotates, it drives the upper and lower segments of the T-shaped rod 16 to rotate in coordination with its movement, avoiding motion interference). The T-shaped rod 16 is fixedly connected to the inner wall of the rotating ring 12. A positioning cylinder 161 is fixed to the outside of the hollow cylinder 6. Two sets of curved grooves 162 are formed on the positioning cylinder 161, and the two sets of curved grooves 162 are formed in opposite directions. A positioning slide rod 163 is slidably connected in the curved groove 162, and the positioning slide rod 163 is fixedly connected to the T-shaped rod 16. Multiple ribs 20 are fixed on the upper and lower edges of the radar optical protective cover 13. The ribs 20 are distributed above and below the window 14, and the ribs 20 rotate circumferentially to contact and press against the surface of the scraper 19.

[0042] The radar optical protective cover 13 is installed outside the lidar detection device 10. The state of the radar optical protective cover 13 outside the lidar detection device 10 is adjusted according to the construction status. The small motor 124 controls the rotation of the pinion 123. The pinion 123 meshes with the internal gear ring 122. Under the meshing transmission, it can drive the internal gear ring 122 and the radar optical protective cover 13 to rotate, and control the rotation of the protected area or window 14 of the radar optical protective cover 13 to correspond to the signal transmission and reception area in front of the lidar detection device 10.

[0043] When the excavator operates in a muddy environment, the protective area of ​​the radar optical shield 13 is rotated to align with the signal transceiver area in front of the lidar detection device 10. At this time, the lidar detection device 10 can perform routine identification and detection through the dedicated radar optical shield 13. Construction mud splashes will adhere to the outside of the radar optical shield 13, preventing direct contamination of the lidar detection device 10 surface. To reduce the mud adhesion rate on the lidar detection device 10 surface, the cylinder 96 can be operated to control the lifting and lowering movement of the disc base 9 and the lidar detection device 10. The disc base 9 drives the rotating ring 12 to lift and lower synchronously. At this time, the T-shaped rod 16 on the rotating ring 12 drives the positioning slide rod 163 to slide directionally in the curved groove 162 during the lifting and lowering movement. The positioning slide rod 163 drives the T-shaped rod 16 along the circumferential direction. The T-shaped rod 16 drives the rotating ring 12 to rotate back and forth on the disc base 9. When the rotating ring 12 rotates back and forth, it can drive the radar optical protective cover 13 to move synchronously. It can throw the mud splashed on its surface outward, thereby reducing the adhesion rate of construction mud. In addition, when the protected area of ​​the radar optical protective cover 13 corresponds to the front of the lidar detection device 10, the window 14 corresponds to the distribution area of ​​multiple uprights 18. When the radar optical protective cover 13 rotates back and forth, the ribs 20 above and below the rear window 14 rub against the scraper 19. Under the continuous friction and squeezing action, the radar optical protective cover 13 generates micro-vibration, which further assists the mud on its surface to fall off and separate, and prevents large pieces of mud from adhering to the surface of the radar optical protective cover 13 and solidifying, so as to facilitate the subsequent cleaning treatment of the surface of the radar optical protective cover 13.

[0044] When the excavator is operating in a favorable construction environment, the radar optical protective cover 13 is rotated, causing the window 14 to align with the signal transmission and reception area in front of the lidar detection device 10. At this time, the lidar detection device 10 is in an open state, enabling high-precision identification and detection of the surrounding environment, assisting in automatic obstacle avoidance, autonomous excavation, and precise operation. Simultaneously, when the lidar detection device 10 is raised and lowered, it drives the radar optical protective cover 13 to rotate reciprocally. The protective area of ​​the radar optical protective cover 13 corresponds to the distribution area of ​​the upright 18. During its reciprocating rotation, the scraper 19 and the lidar... The radar optical shield 13 comes into contact with the surface and can remove some mud adhering to the surface of the radar optical shield 13, keeping its surface clean so that the radar optical shield 13 can be used to protect the outside of the lidar detection device 10 for a long time. However, if mud adhering to the surface of the radar optical shield 13 subsequently affects the normal detection and identification of the lidar detection device 10, the surface needs to be cleaned by the staff to ensure that the identification and detection of the lidar detection device 10 is not affected when the area protected by the radar optical shield 13 corresponds to the outside of the lidar detection device 10.

[0045] In addition, the camera 11 is fixedly connected to the radar optical protective cover 13. When the protective area of ​​the radar optical protective cover 13 is rotated to the front area of ​​the lidar detection device 10, the camera end of the camera 11 is facing backward. At this time, the splashed mud will not contaminate the camera area of ​​the camera 11, ensuring that when the camera end is facing forward, it can normally capture and collect information about the surrounding environment.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart control excavator laser radar identification device, comprising a walking assembly (1) for controlling the excavator's movement on the ground, a mechanical arm (2) mounted on the walking assembly (1), a bucket (3) rotatably mounted on the mechanical arm (2), and a cab (4) for manually controlling the mechanical movement mounted on the walking assembly (1), characterized in that: The cab (4) has a support frame (5) fixed on its top surface. Two sets of hollow cylinders (6) are vertically fixed on the support frame (5). A lifting rod (7) is telescopically connected in the hollow cylinder (6). A steering seat (8) is rotatably connected to the top of the lifting rod (7). A disc base (9) is fixed on the upper surface of the steering seat (8). A laser radar detection device (10) for providing environmental data for intelligent control is fixed on the disc base (9). A camera (11) for further sensing and monitoring the surrounding environment is rotatably mounted on the upper surface of the laser radar detection device (10). The support frame (5) is equipped with a parallel two-degree-of-freedom adjustment mechanism for regulating the detection height and angle of the laser radar detection device (10).

2. The intelligent control excavator lidar identification device according to claim 1, characterized in that: The parallel two-degree-of-freedom adjustment mechanism includes a guide rail (91) that is laterally fixed on the support frame (5), a slide block (92) that is slidably mounted on the guide rail (91), and a steering arm (93) that is rotatably connected to the slide block (92). A positioning block (94) is fixed on the lower surface of the disc base (9), and the positioning block (94) is rotatably connected to the steering arm (93).

3. The intelligent control excavator lidar identification device according to claim 2, characterized in that: A base (95) is fixed on the support frame (5), and a cylinder (96) is rotatably connected to the base (95). A rotating drum (97) is fixed to the output end of the cylinder (96). A crossbar (98) is vertically fixed on the steering arm (93), and the rotating drum (97) is rotatably sleeved on the outside of the crossbar (98).

4. The intelligent control excavator lidar identification device according to claim 1, characterized in that: A rotating ring (12) is rotatably mounted on the disc base (9), and a radar optical shield (13) is rotatably mounted on the rotating ring (12). A through window (14) is opened on the radar optical shield (13), and the window (14) completely covers the signal transmission and reception area of ​​the laser radar detection device (10). A turning mechanism is provided on the disc base (9) to switch the protection area of ​​the radar optical shield (13) and the window (14) to the corresponding position of the signal transmission and reception area of ​​the laser radar detection device (10); A self-cleaning radar optical shield (13) is installed on the disc base (9) to clean the mud on the surface of the protected area.

5. The intelligent control excavator lidar identification device according to claim 4, characterized in that: The steering mechanism includes an annular groove (125) formed on the upper surface of the rotating ring (12), and an inner annular cavity (121) is formed inside the rotating ring (12). The radar optical shield (13) passes through the annular groove (125) and is rotatably installed in the inner annular cavity (121). An internal gear ring (122) is fixed on the inner wall of the rotating ring (12), and a small gear (123) is meshed with the side of the internal gear ring (122). The small gear (123) is rotatably connected inside the rotating ring (12).

6. The intelligent control excavator lidar identification device according to claim 5, characterized in that: A small motor (124) is fixed on the lower surface of the rotating ring (12), and a small gear (123) is fixed on the output end of the small motor (124); A groove (17) is provided on the disc base (9), and a small motor (124) is movably installed in the groove (17).

7. The intelligent control excavator lidar identification device according to claim 4, characterized in that: The cleaning mechanism includes multiple uprights (18) fixed along the circumferential direction to the outside of the disc base (9), and a scraper (19) is fixed on the side of the uprights (18) near the radar optical shield (13).

8. The intelligent control excavator lidar identification device according to claim 7, characterized in that: The disc base (9) has a slide rail (15) inside, and a T-shaped rod (16) is slidably arranged in the slide rail (15). The T-shaped rod (16) is fixedly connected to the inner wall of the rotating ring (12).

9. The intelligent control excavator lidar identification device according to claim 8, characterized in that: The hollow cylinder (6) is fixed with a positioning cylinder (161) on the outside. The positioning cylinder (161) has two sets of curved grooves (162) with opposite directions. A positioning slide rod (163) is slidably connected in the curved groove (162), and the positioning slide rod (163) is fixedly connected to the T-shaped rod (16).

10. The intelligent control excavator lidar identification device according to claim 7, characterized in that: The radar optical protective cover (13) has multiple ribs (20) fixed on its upper and lower edges. The ribs (20) are distributed above and below the window (14), and the ribs (20) rotate in a circle and contact and press against the surface of the scraper (19).

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